| 5,6 → 5,7 |
|---|
| #include "configuration.h" |
| #include "timer0.h" |
| |
| const uint8_t GYROS_REVERSE[2] = {0,0}; |
| #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| |
| 25,12 → 26,12 |
|---|
| |
| numberOfAxesInRange = 0; |
| |
| if(rawPitchGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_PITCH]--; |
| else if(rawPitchGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_PITCH]++; |
| if(rawGyroSum[PITCH] < PITCHROLL_MINLIMIT) DACValues[PITCH]--; |
| else if(rawGyroSum[PITCH] > PITCHROLL_MAXLIMIT) DACValues[PITCH]++; |
| else numberOfAxesInRange++; |
| |
| if(rawRollGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_ROLL]--; |
| else if(rawRollGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_ROLL]++; |
| if(rawGyroSum[ROLL] < PITCHROLL_MINLIMIT) DACValues[ROLL]--; |
| else if(rawGyroSum[ROLL] > PITCHROLL_MAXLIMIT) DACValues[ROLL]++; |
| else numberOfAxesInRange++; |
| |
| if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
| 37,15 → 38,15 |
|---|
| else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
| else numberOfAxesInRange++; |
| |
| if(DACValues[DAC_PITCH] < 10) { |
| /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 10; |
| } else if(DACValues[DAC_PITCH] > 245) { |
| /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 245; |
| if(DACValues[PITCH] < 10) { |
| /* GyroDefectNick = 1; */ DACValues[PITCH] = 10; |
| } else if(DACValues[PITCH] > 245) { |
| /* GyroDefectNick = 1; */ DACValues[PITCH] = 245; |
| } |
| if(DACValues[DAC_ROLL] < 10) { |
| /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 10; |
| /* GyroDefectRoll = 1; */ DACValues[ROLL] = 10; |
| } else if(DACValues[DAC_ROLL] > 245) { |
| /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 245; |
| /* GyroDefectRoll = 1; */ DACValues[ROLL] = 245; |
| } |
| if(DACValues[DAC_YAW] < 10) { |
| /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 10; |